std_msgs/Header header
uint8 mode
float64 angle
float64 delta_angle
float64 angle_offset
float64 rotate_speed
bool target_switched
bool is_target_lost
float64 timestamp
float64 bullet_speed 
float64 shoot_delay
Point2f[5] points2d
geometry_msgs/TransformStamped transform_gimbal
geometry_msgs/Point armor3d_world
geometry_msgs/Point armor3d_cam
geometry_msgs/Point predict_point 
geometry_msgs/Point r_center
geometry_msgs/Quaternion quat_cam